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<body style="margin: 2px; background-color: #F1F1F1" onload="showStartPage()"> 
  <div class="tree" onmouseout="clearLastLink()">
    <h3><a name="link0folder.0" class="el" href="en/welcome.htm">CoppeliaSim User Manual</a></h3>
      <p><img src="wb_img/node.png"><a class="el" name="link1folder" href="en/coppeliaSimFeatures.htm">Main features</a></p>
      <p><img src="wb_img/node.png"><a class="el" name="link2folder" href="en/versionInfo.htm">Version history</a></p>
      <p><img src="wb_img/node.png"><a class="el" name="link3folder" href="en/licensing.htm">Licensing</a></p>
      <p><img src="wb_img/node.png"><a class="el" name="link4folder" href="en/acknowledgments.htm">Acknowledgments and credits</a></p>
      <p><img src="wb_img/node.png"><a class="el" name="link5folder" href="en/overviewTranslations.htm">Overview in other languages</a></p>
      <p><img name="imgfolder.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.1')"><a name="link6folder.1" class="el" href="en/userInterface.htm">User interface</a></p>
      <div id="folder.1">
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link7folder.1" href="en/pagesAndViews.htm">Pages and views</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.1.1')"><a name="link8folder.1.1" class="el" href="en/coordinateDialog.htm">Position/orientation manipulation</a></p>
        <div id="folder.1.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link9folder.1.1" href="en/positionDialog.htm">Position dialog</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link10folder.1.1" href="en/orientationDialog.htm">Orientation dialog</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link11folder.1.1" href="en/objectMovement.htm">Object movement via the mouse</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link12folder.1" href="en/eulerAngles.htm">Euler angles</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link13folder.1" href="en/settings.htm">User settings</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link14folder.1" href="en/shortcuts.htm">Shortcuts</a></p>
      </div>
      <p><img name="imgfolder.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.2')"><a name="link15folder.2" class="el" href="en/scenesAndModels.htm">Scenes and models</a></p>
      <div id="folder.2">
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link16folder.2" href="en/scenes.htm">Scenes</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.2.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.2.1')"><a name="link17folder.2.1" class="el" href="en/models.htm">Models</a></p>
        <div id="folder.2.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link18folder.2.1" href="en/modelDialog.htm">Model dialog</a></p>
        </div>
      </div>
      <p><img name="imgfolder.3" src="wb_img/plusnode.png" onclick="toggleFolder('folder.3')"><a name="link19folder.3" class="el" href="en/environment.htm">Environment</a></p>
      <div id="folder.3">
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link20folder.3" href="en/environmentPropertiesDialog.htm">Environment dialog</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link21folder.3" href="en/textureDialog.htm">Texture dialog</a></p>
      </div>
      <p><img name="imgfolder.4" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4')"><a name="link22folder.4" class="el" href="en/entities.htm">Entities</a></p>
      <div id="folder.4">
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link23folder.4" href="en/collections.htm">Collections</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.4.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.4.1')"><a name="link24folder.4.1" class="el" href="en/objects.htm">Scene objects</a></p>
        <div id="folder.4.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.1')"><a name="link25folder.4.1.1" class="el" href="en/sceneObjectPropertiesDialog.htm">Object properties</a></p>
          <div id="folder.4.1.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link26folder.4.1.1" href="en/commonPropertiesDialog.htm">Object common properties</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link27folder.4.1" href="en/collidableObjects.htm">Collidable objects</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link28folder.4.1" href="en/measurableObjects.htm">Measurable objects</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link29folder.4.1" href="en/detectableObjects.htm">Detectable objects</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link30folder.4.1" href="en/renderableObjects.htm">Renderable objects</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link31folder.4.1" href="en/viewableObjects.htm">Viewable objects</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link32folder.4.1" href="en/convexHull.htm">Convex hull</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link33folder.4.1" href="en/layerSelectionDialog.htm">Layer selection dialog</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.2')"><a name="link34folder.4.1.2" class="el" href="en/cameras.htm">Cameras</a></p>
          <div id="folder.4.1.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link35folder.4.1.2" href="en/cameraPropertiesDialog.htm">Camera properties</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.3" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.3')"><a name="link36folder.4.1.3" class="el" href="en/lights.htm">Lights</a></p>
          <div id="folder.4.1.3">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link37folder.4.1.3" href="en/lightPropertiesDialog.htm">Light properties</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.4" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.4')"><a name="link38folder.4.1.4" class="el" href="en/shapes.htm">Shapes</a></p>
          <div id="folder.4.1.4">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link39folder.4.1.4" href="en/shapeReferenceFrames.htm">Shape coordinate frame</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link40folder.4.1.4" href="en/primitiveShapes.htm">Primitive shapes</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link41folder.4.1.4" href="en/convexDecomposition.htm">Convex decomposition</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img name="imgfolder.4.1.4.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.4.1')"><a name="link42folder.4.1.4.1" class="el" href="en/shapeProperties.htm">Shape properties</a></p>
            <div id="folder.4.1.4.1">
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.4.1.4.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.4.1.1')"><a name="link43folder.4.1.4.1.1" class="el" href="en/shapeDynamicsProperties.htm">Shape dynamics properties</a></p>
              <div id="folder.4.1.4.1.1">
                <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link44folder.4.1.4.1.1" href="en/shapeDynamicEngineProperties.htm">Material properties</a></p>
              </div>
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link45folder.4.1.4.1" href="en/geometryDialog.htm">Shape geometry dialog</a></p>
            </div>
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img name="imgfolder.4.1.4.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.4.1.4.2')"><a name="link46folder.4.1.4.2" class="el" href="en/shapeEditModes.htm">Shape edit modes</a></p>
            <div id="folder.4.1.4.2">
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link47folder.4.1.4.2" href="en/triangleEditMode.htm">Triangle edit mode</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link48folder.4.1.4.2" href="en/vertexEditMode.htm">Vertex edit mode</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link49folder.4.1.4.2" href="en/edgeEditMode.htm">Edge edit mode</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link50folder.4.1.4.2" href="en/groupedShapeEditMode.htm">Edit mode for compound shapes</a></p>
            </div>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.5" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.5')"><a name="link51folder.4.1.5" class="el" href="en/joints.htm">Joints</a></p>
          <div id="folder.4.1.5">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link52folder.4.1.5" href="en/jointDescription.htm">Joint types and operation</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img name="imgfolder.4.1.5.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.4.1.5.1')"><a name="link53folder.4.1.5.1" class="el" href="en/jointProperties.htm">Joint properties</a></p>
            <div id="folder.4.1.5.1">
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.5.1.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.4.1.5.1.1')"><a name="link54folder.4.1.5.1.1" class="el" href="en/jointDynamicsProperties.htm">Joint dynamics properties</a></p>
              <div id="folder.4.1.5.1.1">
                <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link55folder.4.1.5.1.1" href="en/jointDynamicEngineProperties.htm">Dynamics engines properties related to joints</a></p>
              </div>
            </div>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.6" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.6')"><a name="link56folder.4.1.6" class="el" href="en/dummies.htm">Dummies</a></p>
          <div id="folder.4.1.6">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link57folder.4.1.6" href="en/dummyPropertiesDialog.htm">Dummy properties</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.7" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.7')"><a name="link58folder.4.1.7" class="el" href="en/graphs.htm">Graphs</a></p>
          <div id="folder.4.1.7">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link59folder.4.1.7" href="en/graphPropertiesDialog.htm">Graph properties</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.8" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.8')"><a name="link60folder.4.1.8" class="el" href="en/proximitySensors.htm">Proximity sensors</a></p>
          <div id="folder.4.1.8">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link61folder.4.1.8" href="en/proximitySensorDescription.htm">Proximity sensor types and mode of operation</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img name="imgfolder.4.1.8.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.4.1.8.1')"><a name="link62folder.4.1.8.1" class="el" href="en/proximitySensorPropertiesDialog.htm">Proximity sensor properties</a></p>
            <div id="folder.4.1.8.1">
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link63folder.4.1.8.1" href="en/proximitySensorVolumeDialog.htm">Proximity sensor volume dialog</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link64folder.4.1.8.1" href="en/proximitySensorDetectionParameterDialog.htm">Proximity sensor detection parameter dialog</a></p>
            </div>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.9" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.9')"><a name="link65folder.4.1.9" class="el" href="en/visionSensors.htm">Vision sensors</a></p>
          <div id="folder.4.1.9">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link66folder.4.1.9" href="en/visionSensorDescription.htm">Vision sensor types and mode of operation</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link67folder.4.1.9" href="en/visionSensorPropertiesDialog.htm">Vision sensor properties</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.10" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.10')"><a name="link68folder.4.1.10" class="el" href="en/forceSensors.htm">Force sensors</a></p>
          <div id="folder.4.1.10">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link69folder.4.1.10" href="en/forceSensorPropertiesDialog.htm">Force sensor property</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.11" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.11')"><a name="link70folder.4.1.11" class="el" href="en/octrees.htm">OC trees</a></p>
          <div id="folder.4.1.11">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link71folder.4.1.11" href="en/octreePropertiesDialog.htm">OC tree properties</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.4.1.12" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4.1.12')"><a name="link72folder.4.1.12" class="el" href="en/pointClouds.htm">Point clouds</a></p>
          <div id="folder.4.1.12">
            <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link73folder.4.1.12" href="en/pointCloudPropertiesDialog.htm">Point cloud properties</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link74folder.4.1" href="en/paths.htm">Paths</a></p>
        </div>
      </div>
      <p><img name="imgfolder.5" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5')"><a name="link75folder.5" class="el" href="en/functionality.htm">Functionality</a></p>
      <div id="folder.5">
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.1')"><a name="link76folder.5.1" class="el" href="en/geometricCalculations.htm">Geometric calculations</a></p>
        <div id="folder.5.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link77folder.5.1" href="en/collisionDetection.htm">Collision detection</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link78folder.5.1" href="en/distanceCalculation.htm">Distance calculation</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.1.1')"><a name="link79folder.5.1.1" class="el" href="en/geometricPlugin.htm">Geometric plugin</a></p>
          <div id="folder.5.1.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link80folder.5.1.1" href="en/simGeom.htm?view=category">simGeom API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.1.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.1.2')"><a name="link81folder.5.1.2" class="el" href="en/coppeliaGeometricRoutines.htm">Coppelia geometric routines</a></p>
          <div id="folder.5.1.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link82folder.5.1.2" href="en/coppeliaGeometricRoutines-api.htm?view=category">API reference</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.2')"><a name="link83folder.5.2" class="el" href="en/kinematics.htm">Kinematics</a></p>
        <div id="folder.5.2">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link84folder.5.2" href="en/basicsOnIkGroupsAndIkElements.htm">Basics on IK groups and IK elements</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link85folder.5.2" href="en/solvingIkAndFk.htm">Solving IK and FK for any type of mechanism</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.2.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.2.1')"><a name="link86folder.5.2.1" class="el" href="en/kinematicsPlugin.htm">Kinematics plugin</a></p>
          <div id="folder.5.2.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link87folder.5.2.1" href="en/simIK.htm?view=category">simIK API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.2.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.2.2')"><a name="link88folder.5.2.2" class="el" href="en/coppeliaKinematicsRoutines.htm">Coppelia kinematics routines</a></p>
          <div id="folder.5.2.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link89folder.5.2.2" href="en/coppeliaKinematicsRoutines-api.htm?view=category">API reference</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.3" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.3')"><a name="link90folder.5.3" class="el" href="en/dynamicsModule.htm">Dynamics</a></p>
        <div id="folder.5.3">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link91folder.5.3" href="en/designingDynamicSimulations.htm">Designing dynamic simulations</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.3.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.3.1')"><a name="link92folder.5.3.1" class="el" href="en/dynamicsDialog.htm">General dynamics properties</a></p>
          <div id="folder.5.3.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link93folder.5.3.1" href="en/dynamicsEngineDialog.htm">Dynamics engines general properties</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link94folder.5" href="en/dataVisualizationAndOutput.htm">Data visualization/output</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link95folder.5" href="en/dataTransformation.htm">Data manipulation/transformation</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.4" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.4')"><a name="link96folder.5.4" class="el" href="en/meansOfCommunication.htm">Messaging/interfaces/connectivity</a></p>
        <div id="folder.5.4">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link97folder.5.4" href="en/simZMQ.htm?view=alphabetical">simZMQ API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.4.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.4.1')"><a name="link98folder.5.4.1" class="el" href="en/rosInterfaces.htm">ROS Interfaces</a></p>
          <div id="folder.5.4.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.4.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.4.1.1')"><a name="link99folder.5.4.1.1" class="el" href="en/rosInterf.htm">ROS Interface</a></p>
            <div id="folder.5.4.1.1">
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link100folder.5.4.1.1" href="en/simROS.htm?view=alphabetical">simROS API reference</a></p>
            </div>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.4.1.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.4.1.2')"><a name="link101folder.5.4.1.2" class="el" href="en/ros2Interface.htm">ROS 2 Interface</a></p>
            <div id="folder.5.4.1.2">
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link102folder.5.4.1.2" href="en/simROS2.htm?view=alphabetical">simROS2 API reference</a></p>
            </div>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.4.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.4.2')"><a name="link103folder.5.4.2" class="el" href="en/remoteApiOverview.htm">Remote API</a></p>
          <div id="folder.5.4.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.4.2.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.4.2.1')"><a name="link104folder.5.4.2.1" class="el" href="en/b0RemoteApiOverview.htm">B0-based remote API</a></p>
            <div id="folder.5.4.2.1">
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link105folder.5.4.2.1" href="en/b0RemoteApiClientSide.htm">Enabling the B0-based remote API - client side</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link106folder.5.4.2.1" href="en/b0RemoteApiServerSide.htm">Enabling the B0-based remote API - server side</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link107folder.5.4.2.1" href="en/b0RemoteApiModusOperandi.htm">B0-based remote API modus operandi</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link108folder.5.4.2.1" href="en/b0RemoteApiExtension.htm">Extending the B0-based remote API</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.4.2.1.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.4.2.1.1')"><a name="link109folder.5.4.2.1.1" class="el" href="en/b0RemoteApi-functionList.htm">B0-based remote API reference</a></p>
              <div id="folder.5.4.2.1.1">
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link110folder.5.4.2.1.1" href="en/b0RemoteApi-cpp.htm">B0-based remote API functions (C/C++)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link111folder.5.4.2.1.1" href="en/b0RemoteApi-python.htm">B0-based remote API functions (Python)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link112folder.5.4.2.1.1" href="en/b0RemoteApi-java.htm">B0-based remote API functions (Java)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link113folder.5.4.2.1.1" href="en/b0RemoteApi-matlab.htm">B0-based remote API functions (Matlab)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link114folder.5.4.2.1.1" href="en/b0RemoteApi-lua.htm">B0-based remote API functions (Lua)</a></p>
              </div>
            </div>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.4.2.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.4.2.2')"><a name="link115folder.5.4.2.2" class="el" href="en/legacyRemoteApiOverview.htm">Legacy remote API</a></p>
            <div id="folder.5.4.2.2">
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link116folder.5.4.2.2" href="en/remoteApiClientSide.htm">Enabling the remote API - client side</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link117folder.5.4.2.2" href="en/remoteApiServerSide.htm">Enabling the remote API - server side</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link118folder.5.4.2.2" href="en/remoteApiModusOperandi.htm">Remote API modus operandi</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link119folder.5.4.2.2" href="en/remoteApiExtension.htm">Extending the remote API</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.5.4.2.2.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.4.2.2.1')"><a name="link120folder.5.4.2.2.1" class="el" href="en/remoteApiFunctionListAlphabetical.htm">Remote API reference</a></p>
              <div id="folder.5.4.2.2.1">
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link121folder.5.4.2.2.1" href="en/remoteApiConstants.htm">Remote API constants</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link122folder.5.4.2.2.1" href="en/remoteApiFunctions.htm">Remote API functions (C/C++)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link123folder.5.4.2.2.1" href="en/remoteApiFunctionsPython.htm">Remote API functions (Python)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link124folder.5.4.2.2.1" href="en/remoteApiFunctionsJava.htm">Remote API functions (Java)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link125folder.5.4.2.2.1" href="en/remoteApiFunctionsMatlab.htm">Remote API functions (Matlab)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link126folder.5.4.2.2.1" href="en/remoteApiFunctionsOctave.htm">Remote API functions (Octave)</a></p>
                <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link127folder.5.4.2.2.1" href="en/remoteApiFunctionsLua.htm">Remote API functions (Lua)</a></p>
              </div>
            </div>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.4.3" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.4.3')"><a name="link128folder.5.4.3" class="el" href="en/blueZeroPlugin.htm">BlueZero Interface</a></p>
          <div id="folder.5.4.3">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link129folder.5.4.3" href="en/simB0.htm?view=alphabetical">simB0 API reference</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link130folder.5" href="en/pathsAndTrajectories.htm">Paths/trajectories</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.5" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.5')"><a name="link131folder.5.5" class="el" href="en/pathAndMotionPlanningModules.htm">Path planning</a></p>
        <div id="folder.5.5">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link132folder.5.5" href="en/simOMPL.htm?view=alphabetical">simOMPL API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.6" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.6')"><a name="link133folder.5.6" class="el" href="en/syntheticVision.htm">Synthetic vision</a></p>
        <div id="folder.5.6">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link134folder.5.6" href="en/simIM.htm?view=alphabetical">simIM API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link135folder.5.6" href="en/simVision.htm?view=category">simVision API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.7" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.7')"><a name="link136folder.5.7" class="el" href="en/customUIPlugin.htm">Custom user interfaces</a></p>
        <div id="folder.5.7">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link137folder.5.7" href="en/simUI.htm?view=alphabetical">simUI API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link138folder.5.7" href="en/simUI-widgets.htm">simUI XML syntax</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.8" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.8')"><a name="link139folder.5.8" class="el" href="en/importExport.htm">Import/export</a></p>
        <div id="folder.5.8">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link140folder.5.8" href="en/xmlFormat.htm">XML format</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.8.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.8.1')"><a name="link141folder.5.8.1" class="el" href="en/urdfPlugin.htm">URDF format</a></p>
          <div id="folder.5.8.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link142folder.5.8.1" href="en/simURDF.htm?view=alphabetical">simURDF API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.8.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.8.2')"><a name="link143folder.5.8.2" class="el" href="en/sdfPlugin.htm">SDF format</a></p>
          <div id="folder.5.8.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link144folder.5.8.2" href="en/simSDF.htm?view=alphabetical">simSDF API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link145folder.5.8" href="en/aviRecorder.htm">Video exporter</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link146folder.5.8" href="en/simAssimp.htm?view=alphabetical">simAssimp API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link147folder.5.8" href="en/simGLTF.htm?view=alphabetical">simGLTF API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.9" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.9')"><a name="link148folder.5.9" class="el" href="en/commandLine.htm">Commands/setting</a></p>
        <div id="folder.5.9">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link149folder.5.9" href="en/simLuaCmd.htm?view=alphabetical">simLuaCmd API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.10" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.10')"><a name="link150folder.5.10" class="el" href="en/miscellaneousFunctionality.htm">Miscellaneous</a></p>
        <div id="folder.5.10">
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link151folder.5.10" href="en/simSurfRec.htm?view=alphabetical">simSurfRec API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link152folder.5.10" href="en/simICP.htm?view=alphabetical">simICP API reference</a></p>
        </div>
      </div>
      <p><img name="imgfolder.6" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6')"><a name="link153folder.6" class="el" href="en/writingCode.htm">Writing code in and around CoppeliaSim</a></p>
      <div id="folder.6">
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.1')"><a name="link154folder.6.1" class="el" href="en/scripts.htm">Scripts</a></p>
        <div id="folder.6.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.1.1')"><a name="link155folder.6.1.1" class="el" href="en/embeddedScripts.htm">Embedded scripts</a></p>
          <div id="folder.6.1.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.1.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.1.1.1')"><a name="link156folder.6.1.1.1" class="el" href="en/simulationScripts.htm">Simulation scripts</a></p>
            <div id="folder.6.1.1.1">
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link157folder.6.1.1.1" href="en/mainScript.htm">The main script</a></p>
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link158folder.6.1.1.1" href="en/childScripts.htm">Child scripts</a></p>
            </div>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link159folder.6.1.1" href="en/customizationScripts.htm">Customization scripts</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link160folder.6.1.1" href="en/scriptProperties.htm">Script dialog</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link161folder.6.1.1" href="en/scriptEditor.htm">Script editor</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link162folder.6.1" href="en/addOns.htm">Add-ons</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link163folder.6.1" href="en/sandboxScript.htm">The sandbox script</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link164folder.6.1" href="en/scriptExecution.htm">Script execution order</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link165folder.6.1" href="en/threadedAndNonThreadedCode.htm">Threaded and non-threaded script code</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.1.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.1.2')"><a name="link166folder.6.1.2" class="el" href="en/callbackFunctions.htm">Callback functions</a></p>
          <div id="folder.6.1.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link167folder.6.1.2" href="en/dynCallbackFunctions.htm">Dynamics callback functions</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link168folder.6.1.2" href="en/jointCallbackFunctions.htm">Joint callback functions</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link169folder.6.1.2" href="en/contactCallbackFunction.htm">Contact callback function</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link170folder.6.1.2" href="en/visionCallbackFunctions.htm">Vision callback functions</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link171folder.6.1.2" href="en/triggerCallbackFunctions.htm">Trigger callback functions</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link172folder.6.1.2" href="en/userConfigCallbackFunctions.htm">User config callback functions</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link173folder.6.1" href="en/luaCrashCourse.htm">Lua crash course</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link174folder.6" href="en/plugins.htm">Plugins</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link175folder.6" href="en/mainClientApplication.htm">The main client application</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link176folder.6" href="en/accessingSceneObjects.htm">Accessing scene objects programmatically</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link177folder.6" href="en/explicitHandling.htm">Explicit and non-explicit calls</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.6.2')"><a name="link178folder.6.2" class="el" href="en/apisOverview.htm">CoppeliaSim API framework</a></p>
        <div id="folder.6.2">
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link179folder.6.2" href="en/apiFunctions.htm">Regular API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link180folder.6.2" href="en/apiConstants.htm">Regular API constants</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link181folder.6.2" href="en/objectParameterIDs.htm">Object parameter IDs</a></p>
        </div>
      </div>
      <p><img name="imgfolder.7" src="wb_img/plusnode.png" onclick="toggleFolder('folder.7')"><a name="link182folder.7" class="el" href="en/simulation.htm">Simulation</a></p>
      <div id="folder.7">
        <p><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link183folder.7" href="en/simulationPropertiesDialog.htm">Simulation settings dialog</a></p>
      </div>
      <p><img name="imgfolder.8" src="wb_img/plusnode.png" onclick="toggleFolder('folder.8')"><a name="link184folder.8" class="el" href="en/tutorials.htm">Tutorials</a></p>
      <div id="folder.8">
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link185folder.8" href="en/bubbleRobTutorial.htm">BubbleRob tutorial</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link186folder.8" href="en/buildingAModelTutorial.htm">Building a clean model tutorial</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link187folder.8" href="en/lineFollowingBubbleRobTutorial.htm">Line following BubbleRob tutorial</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link188folder.8" href="en/inverseKinematicsTutorial.htm">Inverse kinematics tutorial</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link189folder.8" href="en/externalControllerTutorial.htm">External controller tutorial</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link190folder.8" href="en/pluginTutorial.htm">Plugin tutorial</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link191folder.8" href="en/robotLanguageIntegrationTutorial.htm">Robot language interpreter integration tutorial</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.8.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.8.1')"><a name="link192folder.8.1" class="el" href="en/rosTutorial.htm">ROS tutorials</a></p>
        <div id="folder.8.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link193folder.8.1" href="en/ros1Tutorial.htm">ROS tutorial</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link194folder.8.1" href="en/ros2Tutorial.htm">ROS 2 tutorial</a></p>
        </div>
      </div>
      <p><img src="wb_img/nodelast.png"><a class="el" name="link195folder" href="en/compilingCoppeliaSim.htm">Compiling CoppeliaSim</a></p>
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